( 00000elgnAhctiP)drawnwoD]ged[Technical Awards：2022 JSAE Award The Outstanding Technical Paper Award - A Study on Pitch Characteristic to Reduce Line Trace Deviation in Small Steering AngleFig.13 Driving SimulatorFig.14 Driving Simulator Accuracy Confi rmation5.2 Experimental method5.3 Experimental resultsDev.= 0.052Fig.15 Pitch CharacteristicsY[m]1.510.50-0.56030(a)K=0Y[m]Y[m]1.51.510.50.50X[m]-0.5X[m]-0.5903060(b)K=0.02Y[m]Y[m]1.51.510.50.50-0.5-0.5X[m]X[m]903060(d)K=0.06Fig.16 Line Trace Experimental ResultThe measured line trace deviations for a certain driver with respect to different values of K of the pitch are presented in Fig. 16. The right-turn data were mirror-compensated in the left-turn direction. The variation in the line trace deviation from the target line decreases as K increases. In addition, the numerical values in each graph, which represent the calculated line trace deviations, quantitatively confi rm the tendency of the variations.The variations in the line trace deviations under different pitch specifi cations, calculated from the measurement results of the travel trajectories of 25 drivers, are depicted in Fig. 17, with the horizontal axis representing K. It is evident that the variation in the line trace deviations tends to decrease as K increases. The thick solid line, which connects the average values obtained under the different specifi cations, indicates that the deviation is the smallest at K = 0.06 and then increases again at K = 0.08. Thus, the hypothesis established in this study was verifi ed. Further, when K = 360°ScreenTurn tableNext, the accuracy of this simulator was verifi ed as follows. The actual data measured using the C-segment vehicle and simulator for the dependence of the steering force and yaw rate on the steering angle are presented in Fig. 14; notably, both exhibit high reproducibility.The experiment was conducted using the same 25 drivers as in the pitch rate sensitivity experiment. The vehicle speed was fi xed to 80 km/h, and the drivers were instructed to operate the steering wheel to solely drive the vehicle along the center of the lane. With regard to the experimental specifi cations, the yaw-rate dead band and steering reaction force were set to 1° and the standard +25%, respectively, which afforded the smallest average value (almost zero) of the line trace deviations for all trials in our previous research. Furthermore, K of the pitch angle to the steering angle was changed fi ve steps from 0 to 0.08 in increments of 0.02. For each step, the experiments were conducted by performing a total of 30 randomly arranged trials, with three right steering and three left steering experiments. The steering angle and the line trace deviations were measured.Y[m]1.510.50-0.5Y[m]1.510.50-0.5X[m]Dev.=0.044Dev.=0.02593106Target LineVehicle Trace LineNo.88 (2022) NISSAN TECHNICAL REVIEWDev.=0.037Dev.=0.050Y[m]1.50.5-0.5X[m]90X[m]90-0.53060(c)K=0.04X[m]903060(e)K=0.08Y[m]1.50.5Steering Angle[deg]K=0.08Steering Angle[deg]K=0.00K=0.02K=0.04K=0.06
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